Dynamic Analysis of Planar Linkages: A Recursive Approach

In the present study, the equations of motion for generalized planar linkages that consist of a system of rigid bodies with all common types of kinematic joints are derived using a recursive approach. The system of rigid bodies is replaced by a dynamically equivalent constrained system of particles. Then for the resulting equivalent system of particles, the concepts of linear and angular momentums are used to generate the equations of motion without either introducing any rotational coordinates or distributing the external forces and force couples over the particles. For the open loop case, the equations of motion are generated recursively along the open chains. For the closed loop case, the system is transformed to open loops by cutting suitable kinematic joints and introducing cut-joints kinematic constraints. An example of a multi-branch closed-loop system is chosen to demonstrate the generality and simplicity of the proposed method.     

Dynamic flight stability of hovering insects

The equations of motion of an insect with flapping wings are derived and then simplified to that of a flying body using the “rigid body” assumption. On the basis of the simplified equations of motion, the longitudinal dynamic flight stability of four insects (hoverfly, cranefly, dronefly and hawkmoth) in hovering flight is studied (the mass of the insects ranging from 11 to 1,648 mg and wingbeat frequency from 26 to 157 Hz). The method of computational fluid dynamics is used to compute the aerodynamic derivatives and the techniques of eigenvalue and eigenvector analysis are used to solve the equations of motion. The validity of the “rigid body” assumption is tested and how differences in size and wing kinematics influence the applicability of the “rigid body” assumption is investigated. The primary findings are: (1) For insects considered in the present study and those with relatively high wingbeat frequency (hoverfly, drone fly and bumblebee), the “rigid body” assumption is reasonable, and for those with relatively low wingbeat frequency (cranefly and howkmoth), the applicability of the “rigid body” assumption is questionable. (2) The same three natural modes of motion as those reported recently for a bumblebee are identified, i.e., one unstable oscillatory mode, one stable fast subsidence mode and one stable slow subsidence mode. (3) Approximate analytical expressions of the eigenvalues, which give physical insight into the genesis of the natural modes of motion, are derived. The expressions identify the speed derivative M _u (pitching moment produced by unit horizontal speed) as the primary source of the unstable oscillatory mode and the stable fast subsidence mode and Z _w (vertical force produced by unit vertical speed) as the primary source of the stable slow subsidence mode. The project supported by the National Natural Science Foundation of China (10232010 and 10472008).     

Dynamic flight stability of a hovering model insect: lateral motion

The lateral dynamic flight stability of a hovering model insect （dronefly） was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigenvector analysis for solving the equations of motion. The main results are as following. （i） Three natural modes of motion were identified： one unstable slow divergence mode （mode 1）, one stable slow oscillatory mode （mode 2）, and one stable fast subsidence mode （mode 3）. Modes 1 and 2 mainly consist of a rotation about the horizontal longitudinal axis （x-axis） and a side translation; mode 3 mainly consists of a rotation about the x-axis and a rotation about the vertical axis. （ii） Approximate analytical expressions of the eigenvalues are derived, which give physical insight into the genesis of the natural modes of motion. （iii） For the unstable divergence mode, td, the time for initial disturbances to double, is about 9 times the wingbeat period （the longitudinal motion of the model insect was shown to be also unstable and td of the longitudinal unstable mode is about 14 times the wingbeat period）. Thus, although the flight is not dynamically stable, the instability does not grow very fast and the insect has enough time to control its wing motion to suppress the disturbances.     

A General Method for Estimating Dynamic Parameters of Spatial Mechanisms

Dynamic equations of motion require a large number of parameters for each element of the system. These can include for each part their mass, location of center of mass, moment of inertia, spring stiffnesses and damping coefficients. This paper presents a technique for estimating these parameters in spatial mechanisms using any joint type, based on measurements of displacements, velocities and accelerations and of external forces and torques, for the purpose of building accurate multibody models of mechanical systems. A form of the equations of spatial motion is derived, which is linear in the dynamic parameters and based on multibody simulation code methodologies. Singular value decomposition is used to find the essential parameter set, and minimum parameter set. It is shown that a simulation of a four-bar mechanism (with spherical, universal, and revolute joints) and based on the estimated parameters gives accurate response.     

Finite and impulsive motion of constrained mechanical systems via Jourdain's principle: discrete and hybrid parameter models

The main purpose of this paper is to present a unified analytical dynamics framework for the analysis of finite and impulsive motion of mechanical systems using Jourdain's principle. Emphasis is given to the general case when a mechanical system is described by a hybrid (discrete-distributed) parameter model. A large group of finite and impulsive, generally non-holonomic, constraints are analysed in detail and a so-called extended Appellian classification is presented for these constrained motion problems. The fundamental dynamic equation of constrained systems is developed in terms of velocity variations (Jourdain's principle). Based on this equation and the constraints, the methods of quasivelocities and Lagrangian multipliers are adopted and interpreted for the finite motion of hybrid parameter models of mechanical systems; and the methods of independent quasivelocity variations and Lagrangian multipliers are introduced for the analysis of impulsive motion of such models. To illustrate the proposed material, an example of a one-link flexible arm intercepting and capturing a moving target is considered.     

Rolling Rigid Bodies and Forces of Constraint: An Application to Affine Nonholonomic Systems

In the present paper we study the motion of a disk rolling without sliding on a rotating platform, deriving the differential equations directly by D'Alembert principle.     

Kinematic Analysis of Robotic Bevel-Gear Trains: An Application of Network Model Approach

The network model approach for rigid and multi-rigid body systems developed recently [1,2] can also be used conveniently in formulating system equations or equations of motion of three-dimensional mechanical systems of interconnected rigid bodies. In this article, this method is further elaborated for establishing only the kinematics of spatial robotic bevel-gear trains. However the dynamic analysis of such systems using the same method is also possible and will be taken up in a future publication.     

Dynamic Analysis of a Composite Hollow Sphere Composed of Elastic and Piezoelectric Layers

Dynamic analysis of a two-layered elasto-piezoelectric composite hollow sphere under spherically symmetric deformation is developed. An unknown function of time is first introduced in terms of the charge equation of electrostatics and then the governing equations of piezoelectric layer, in which the unknown function of time is involved, are derived. By the method of superposition, the dynamic solution for elastic and piezoelectric layers is divided into quasi-static and dynamic parts. The quasi-static part is treated independently by the state space method and the dynamic part is obtained by the separation of variables method. By virtue of the obtained quasi-static and dynamic parts, a Volterra integral equation of the second kind with respect to the unknown function of time is derived by using the electric boundary conditions for piezoelectric layer. Interpolation method is employed to solve the integral equation efficiently. The transient responses for elastic and electric fields are finally determined. Numerical results are presented and discussed.     

Real-Time Multibody System Dynamic Simulation: Part I. A Modified Recursive Formulation and Topological Analysis

ABSTRACT

ABSTRACT With the advent of parallel computers and recursive dynamics formulations, multibody mechanical systems such as ground vehicles can be simulated in real time. This permits the engineer to rapidly modify design parameters, evaluate dynamic performance, and improve designs, prior to fabrication and testing. Perhaps more important, real-time simulation can be used for simulation with the operator-in-the-loop, permitting system design to be optimized for the capability of the human operator. To achieve the goal of real-time simulation, a modified recursive dynamics formulation and a topological analysis method for the formulation are presented in Part I. A parallel computational algorithm that exploits inherent parallelism in the modified recursive formulation and numerical results will be presented in Part II. By combining the topological analysis method and the parallel algorithm, an efficient general-purpose dynamic simulation method is developed for real-time simulation on shared memory parallel processors.     

高层空间框架结构动力分析的超级元子结构模型

本文将超级元和子结构的思想相结合,根据框架结构的变形特点,建立了高层空间框架结构动力分析的超级元子结构模型。模型中将楼面划分为子结构,在总结构层次将各子结构假想为二维连续体后用超级元来描述,而在子结构内部仍用经典有限元三维梁单元模拟。据此,框架梁位于同一超级元内,而框架柱连接不同的超级元。通过假设子结构内部结点自由度与总结构结点自由度的位移关系,得到超级元的质量矩阵以及框架梁和框架柱的单元刚度方程。该模型中空间框架结构的动力和非动力自由度均有大幅度的缩减,而刚性楼面假定可以进一步减少计算量。最后通过一幢30层钢筋混凝土空间框架结构的动力特性分析验证本文理论的正确性和适用性。     

空间网格结构动力分析的非线性模态方法

空间网格结构因自由度数多且无简化的力学模型,非线性动力分析通常要耗费大量时间．传统的非线性模态方法用于求解多高层结构的局部非线性问题已获得良好的效果,但对系统非线性问题的应用尚缺少研究．对比分析多高层结构和空间网格结构动力性能差异,指出网格结构动力非线性分析存在的问题．以主振型理论和切线刚度分离法为基础,将非线性模态方法用于几何非线性效应显著的空间网格结构动力分析．通过对运动方程的非线性恢复力进行拆分,形成线性表达形式,然后解耦到主振型所在的广义坐标系,以达到缩减自由度数量的目的．并通过实例验证非线性模态方法的高效性与适用性．     

空间展开折叠桁架结构动力学分析研究

本文以笛卡尔坐标系下节点自然坐标为未知量,建立了桁架结构系的基本运动力学方程,并首次推导出桁架结构中常用节点附加几何约束方程,相应约束Jacobi矩阵及其导数矩阵,采用奇异值分解法求约束Jacobi矩阵的零空间基和M-P广义逆,并由矩阵缩减法建立了带约束桁架体系的运动力学方程和求解方法。数值算例表明该方法适于可展折叠桁架结构运动力学分析。     

Dynamic flight stability of a bumblebee in forward flight

The longitudinal dynamic flight stability of a bumblebee in forward flight is studied. The method of computational fluid dynamics is used to compute the aerodynamic derivatives and the techniques of eigenvalue and eigenvector analysis are employed for solving the equations of motion. The primary findings are as the following. The forward flight of the bumblebee is not dynamically stable due to the existence of one （or two） unstable or approximately neutrally stable natural modes of motion. At hovering to medium flight speed [flight speed Ue = （0-3.5）m s^-1; advance ratio J = 0-0.44], the flight is weakly unstable or approximately neutrally stable; at high speed （Ue = 4.5 m s^-1; J = 0.57）, the flight becomes strongly unstable （initial disturbance double its value in only 3.5 wingbeats）.     

可折叠航天结构展开动力学分析

以欧拉参数为广义坐标（准坐标）,相对角速度和相对移动速度为广义速率,采用Ｋａｎｅ方程的Ｈｕｓｔｏｎ形式建立多体系统的运动力学方程。由伪上三角分解求约束Ｊａｃｏｂｉ矩阵的正交补阵,约简约束力,从而将运动方程由微分几何方程（ＤＡＥ）变为常微分方程（ＯＤＥ）,并由Ｇｅａｒ法对ＯＤＥ积分求出运动历程。最后给出一伸展臂数值分析算例。     

大型桩基础动力特性及地震反应分析

本文针对大型桩基础的地震反应问题,以上海“东方明珠”广播电视塔桩基础为工程背景,采用梁单元模拟桩的运动,用8节点块体单元对土体进行离散,通过凝聚法消去桩（梁）节点的转动自由度,建立了“东方明珠”电视塔中央部位桩基础的三维有限元分析模型,对桩基础的动力特性进行了计算与分析。在此基础上,以文献[1]根据地震危险性分析和土层反应分析后获得的桩尖处加速度时程作为输入,对桩基础的动力反应进行时程分析,探讨了桩－土动力相互作用和上部结构等因素对地震地面运动和桩承台反应的影响,得到了一些有应用价值的结果。     

The Anti-plane Dynamic Fracture Analysis of Functionally Graded Materials with Arbitrary Spatial Variations of Material Properties

Anti-plane dynamic fracture analysis is presented for functionally graded materials (FGM) with arbitrary spatial variations of material properties. The FGM with the material properties varying continuously in an arbitrary manner is modeled as a multi-layered medium with the elastic modulus and mass density varying linearly in each sub-layer and continuous at the interfaces between two adjacent sub-layers. With this linearly inhomogeneous multi-layered model, the problem of a crack in a graded interfacial zone bonded to two homogeneous half-spaces or in a coating bonded to a homogeneous half-space subjected to the anti-plane shear impact load is investigated. Laplace and Fourier transforms and transfer matrix are applied to reduce the associated mixed boundary value problem to a Cauchy singular integral equation which is solved numerically in the Laplace transformed domain. The dynamic stress intensity factors (DSIF) are obtained by using the numerical technique of Laplace inversion.     

Identification of Material Damage Model Parameters: an Inverse Approach Using Digital Image Processing

A reliable prediction of ductile failure in metals is still a wide-open matter of research. Several models are available in the literature, ranging from empirical criteria, porosity-based models and continuum damage mechanics (CDM). One major issue is the accurate identification of parameters which describe material behavior. For some damage models, parameter identification is more or less straightforward, being possible to perform experiments for their evaluation. For the others, direct calibration from laboratory tests is not possible, so that the approach of inverse methods is required for a proper identification. In material model calibration, the inverse approach consists in a non-linear iterative fitting of a parameter-dependent load–displacement curve (coming from a FEM simulation) on the experimental specimen response. The test is usually a tensile test on a round-notched cylindrical bar. The present paper shows a novel inverse procedure aimed to estimate the material parameters of the Gurson–Tvergaard–Needleman (GTN) porosity-based plastic damage model by means of experimental data collected using image analysis. The use of digital image processing allows to substitute the load–displacement curve with other global quantities resulting from the measuring of specimen profile during loading. The advantage of this analysis is that more data are available for calibration thus allowing a greater level of confidence and accuracy in model parameter evaluation.     

水坝在水流作用下动力响应的一种分析方法

以广东某水坝为研究对象,给出一种基于Fluent平台和Ansys平台进行结构动力响应分析的方法。首先采用基于YOUNGS界面重构技术的VOF模型,对流动进行数值模拟,成功捕捉了闸门开启过程中自由面的变化,比较了在三种落差情况下水坝的受力差异。计算表明,即使在上游平稳的入流条件下,水坝所受到的湍流水压力也会出现波动现象,水压力对坝体的冲击为低频作用,下游水位的升高会减缓水压力的波动,这些特点都与现场观察的相符。然后将水动力作为激励条件导入结构动力分析平台Ansys后,进一步对坝体结构进行动力分析。结构的模态分析结果与实测结果一致。因此,方法可以应用于实际。     

旋转三角形绳系卫星编队系统动态稳定性分析

本文研究了平动点附近的旋转三角形绳系卫星编队系统的动态稳定性问题.为了便于分析,假设系绳始终保持张紧状态,且不计系绳的质量.为了建立更加符合实际的数学模型,考虑了姿态运动和轨道运动的相互影响,即姿轨耦合,并在此基础上推导出了考虑姿轨耦合的非线性动力学方程.最后用数值方法模拟了在不同的旋转速度情况下系统的动态稳定性,模拟结果表明旋转速率越大系统稳定性越好.